Continuous wave radar system



May 4, 1965 Filed Dec. 19, 1960 O. K. NILSSEN CONTINUOUS WAVE RADAR SYSTEM 8 Sheets-Sheet 1 0/V/7' VECTOR O E A. /V/ 15E/V IN V EN TOR.

May 4 1955 o. K. NlLssEN 3,182,323

CONTINUOUS WAVE RADAR SYSTEM Filed nec. 19, 1960 s sheets-sheet 2 U/V/T VECTOR ons' A1 #/SJEA/ INVENTOR.

May 4, 1965 l v o. K. NlLssEN 3,182,323

CONTINUOUS WAVE RADAR SYSTEM friled Dec. 19. 19Go 8 sheets-sheet s (flip) voz TAGE Rar/o rp o N INVENTOR.

BY @Magna 8 Sheets-Sheet 4 Filed Dec. 19, 1960 INVENTOR. Y BY y. A?. am

Kat.

May 4, 1965 o. K. NlLssEN 3,182,323

CONTINUOUS WAVE RADAR SYSTEM FiledDeo. 19, 1960 8 Sheets-Sheet 5 INVENTOR.

BY .2Q afmw May 4, 1965 o, K. NlLssEN CONTINUOUS WAVE RADAR SYSTEM 8 Sheets-Sheet 6 Filed Dec. 19, 1960 OLE A'. /v/ ssfw INVENTOR.

May 4, 1965 o. K. NlLssEN lCONTINUOUS WAVE RADAR SYSTEM 8 :Sheets-Sheetl '7 Filed Dec. 19, 1960 CONTINUOUS WAVE RADAR SYSTEM Filed Dec. 19, 1960 8 Sheets-Sheet 8 E :LE

o E A. /v/.L 66E/V IN VEN TOR.

United States Patent C 3,182,323 CGNTINUUS WAVE RADAR SYSTEM @le K. Nilssen, Livonia, Mich., assigner to Ford Motor Company, Dearborn, Mich., a corporation of Deiaware Filed Dec. 19, 1960, Ser. No. 76,678 14 Claims. (Cl. 3dS- 9) This invention relates to a continuous wave radar system and more particularly to a continuous wave radar system that is capable of determining range within very accurate limits without using wide transmission bandwidths.

The present invention is an improvement over the continuous wave radar system disclosed and claimed in my copending application S.N. 744,382, filed June 25, 1958, now Patent Number 3,126,540.

This invention was developed as a part of an automobile collision warning system for determining distance and relative speed between the automobile and an obstacle in its path. It is a well understood fact that one of the most numerous types of accidents occurring with automobiles is the rear end collision. This type of accident is caused either by driver inattentiveness or by bad judgment on the part of the driver in estimating the distance and relative speed between the vehicle operated by the driver and a vehicle located in the same lane ahead of the driver. This invention is capable of providing range rate or relative speed between the two vehicles and is also capable of determining range within extremely accurate limits without resort to wide transmission bandwidths. The principles of the invention are not limited, however, to automobile obstacle detection, but have general utility in continuous wave radar systems for measuring range and range rate between the system and a target.

In the invention, a transmitter signal is angle modulated, i.e., either frequency or phase modulated, at a rate greater than the maximum Doppler frequency expected to be received. The signal from the transmitter and an echo or reflected signal from a target are combined to produce a resultant signal. This resultant signal is applied to a detecting means that yields a signal comprised of a Doppler component and a component due to the angle modulation. Means are connected to the detecting means for measuring the ratio of the peak amplitude of the component due to the angle modulation to the peak amplitude of either the total output signal from the detecting means or the Doppler component thereof. This ratio is a measure of range between the system and a target. Relative speed between the system and the target or range rate, may be determined by measuring the frequency of the Doppler component by any suitable means, for example, a frequency meter.

As will be more completely explained in the detailed description of the invention that follows, the invention has certain very distinct advantages over known continuous wave radar systems. One of these conventional systems measures a beat frequency between a frequency modulated transmitted signal and this same signal reflected from a target. This requires a frequency diiference between the transmitted signal and the echo signal to provide a beat frequency sniciently high that it can be used to provide an indication of range. Where range must be determined within very accurate limits, especially at short ranges, this type of system must employ extremely wide bandwidths. This implies complex and costly equipment and a wide band of frequency requirements.

Another conventional continuous wave radar system compares the phase of a phase or frequency modulated transmitted signal with the phase of an echo signal received from the target. Since the transmitted signal will be many times stronger than the echo signal, this type .3,182,323 Patented May 4, i965 ICC of system requires eiiective isolation of the transmitting antenna with respect to the receiving antenna, either by physical separation or by the use of phase shifting networlcs that cancel out the transmitted signal in the receiving antenna.

The present invention eliminates the disadvantages of the conventional type radar systems discussed above by combining the transmitted signal and the echo or reliected signal and by providing means for determining range and range rate from this combined signal. As discussed above, the continuous wave radar system of this invention is capable of determining range within extremely accurate limits without the use of wide transmission bandwidths.

An object of the present invention is the provision of a continuous wave radar system that is capable of determining range with a high degree of accuracy.

Another object of the invention is the provision of a continuous wave radar system that is capable of determining range and range rate while employing relatively narrow transmission bandwidths.

A further object of the invention is the provision of a continuous wave radar system that is capable of determining range with a high degree of accuracy without employing wide transmission bandwidths.

Still another object of the invention is the provision of `a continuous wave radar system that is capable of determining range with a high degree of accuracy at short ranges without employing wide transmission bandwidths.

A further object of the invention is the provision of a continuous wave radar system in which a transmitted signal and an echo or reflected signal are combined to produce a resultant signal that is processed to provide range and range rate information between the system and a target.

Another object of the invention is the provision of a continuous wave radar system that may be employed in an automotive vehicle to provide range and range rate between the vehicle and an obstacle positioned in its path of movement.

A further object of the invention is the provision of a continuous wave radar system that is capable of measuring the relative speed, or range rate, and the range between the system and a target that is moving among a multitude of radar reflectors.

Another object of the invention is the provision of a continuous wave radar system that is capable of measuring relative speed, or range rate, and range between the system and a moving target located among a multitude of radar reflectors when the moving target has a relative speed with respect to the system that is different from the other radar reflectors.

Other objects and attendant advantages: of the present invention will become more readily apparent as the specification is considered in connection with the accompanying drawings in which:

FIGURE 1 is a plot showing a transmitted and received signal in a continuous wave radar system in which the frequency of the transmitted signal increases linearly with time;

FIGURE 2 is a plot showing the instantaneous values of the magnitude and phase angle of a transmitted signal in a continuous wave radar system;

FIG. 3 is a plot showing the vector addition of a transmitted and received, or echo signal, in a continuous wave radar system;

FIG. 4 is a plot similar to FIG. 3 but showing in more detail the relationship between the transmitted and received, or echo signal, in a continuous wave radar system;

FIG. 5 is a plot of the A.C. component of the amplitudedetected, combined transmitted and :received signal of the present invention;

FIG. is a vector diagram explaining the origin of the signal shown in FIG. 5;

FIG. 7 is a plot of the ratio of the voltages BHP to ETP as a function of range;

FIG. 8 is similar to FIG. 7 -but replotted to an expanded horizontal scale for range;

FIG. 9 is a block diagram of one embodiment of the present invention;

FIG. 10 is a plot of a signal present at the output of the high pass filter shown in FIG. 9 assuming no incidental amplitude modulation of the signal transmitted by the system of FIG. "9;

FIG. 11 shows a signal that will be present at the output of the high pass filter shown in FIG. 9 if the signal transmitted by the system shown in FIG. 9 contains in- Y cidental amplitude modulation;

FIG. 12 shows a signal that is present at the output from the highV pass iilter of the system shown in FIGS. 13 and 14;

FIG. 13l is another embodiment of the present invention that is designed lto accommodate and oor-rect for a certain amount of incidental amplitude modulation of the transmitted signal;

FIG. 14 is` another embodiment ofV the invention that is also capable of accommodating and correcting for a certain amount of incidental amplitude modulation of the transmitted signal; and,

. FIG. l5 discloses how the operating frequencies of the radar systems mounted on automotive vehicles could be set in accordance with the direction of travel of the Vehicles.

InA order to fully understand and appreciate the novel and inventive aspects of the applicants invention, it is considered that an analysis of one form of continuous Wave radar,frequency modulated continuous wave radar, would be helpful.

Frequency modulated continuous wave radar systems operate on the principle of frequency modulating a transmitted signal. The frequency of an echo signalV received from, a target will be diiferent from the frequency of the transmitted signal at any instant of time, due to the round trip distance between the system and the target.

This diiference in frequency permitsv a measurement of range to the target.

Frequency modulated radar may be explained more explicitly as follows: Assume that the frequency of the transmitted signal is made to increase linearly with time,

as.indicatedbyrthesolidline in FIG. l. The slope ofV this line is the time rate of change lof frequency, (JF/dt or F. Thus, the instantaneous-value of the transmitter frequency may be written as F: c-l-F't The, signalreceived Yafter reflection from a target will be delayed'by an amount T, implying that its frequency is The corresponding frequency difference between transmitted and received signals will be As mayV -be seen, this frequency difference is a direct The time delay T is related to range R in the following Way:

, s Rues (t) where c is the speed of light (109 feet/sec). The factor ofV 1/2 appears `since T is the :round trip delay, whereas R is the one way distance.

The bandwidth requirements of a frequency modulated ranges.

radar system are determined by the total frequency sweep of the transmitter signal, which in turn depends upon how many beat-cycles are required to establish a sufliciently accurate reading of the unknown difference frequency FT, as given by Equation 3.

In conventional frequency modulate radar, this reading is obtained by applying the signal of unknown frequency to a counter, the output of which will be a number n -Frf (5) Consequently, the delay may be expressed as n T ITL, (6)

Then, by combining Equations 4 and 6 the following equation for range may be derived:

cn m (7) However, counter-s generally cannot count fractions of one cycle. Thus there exists a possibility of error corresponding to one count. In terms of uncertainty of range R, this is aan (9) In continuous wave radar systems employed for comf paratively short range applications, for example, obstacle Vdetection for automobiles, it seems reasonable to require a maximumuncertainty of l meter (3 feet) at short When Vthis value is substituted for AR in Equa-V tion 9, they resulting frequency deviation, which is approXimately equivalent to the bandwidth, turns out to` be` 1.5 X108 c.p.s. ThisA Vresult indicates a bandwidth thatV requires complex equipment `and a la-rge operating spectrum.v

An alternative way of obtaining range from the rela.-

tion indicated by Equation 7, is to measure the time Vto that it takes for the counter to count a predetermined number of beat-cycles. number must be at least one, the expression'f'or R- is No fixed error would be associated with such a method.

The bandwidth requirements `would be less severe than with conventional frequency modulated radar, and can be determined by choosing the minimum range to be measured as 3 meters or 10 feet. By inserting'this value for R in Equation 7a, there results: Fto=5 l0'7c.p.s`. This 4bandwidth is less than that of conventional frequencyV modulated radar, but is still very large from the standpoint of equipment complexity and spectrum requirements.

Referring to Equation 7, it can :be appreciated thatk if a small fraction of one cycle orcount could be recognized `and measured, it would be possible to reduce the required frequency sweep by a substantial amount. This Y 1s accomplishedby the embodiments of the invention.'

describedV subsequently, but in'order to explain the principles involved, it is considered that aV more rigorous yanalysis of continuous wave radarV should be set forth.

The transmitted signal in a radar system may be eX pressed .as a sinusoid i Sommier@ (10')A where, as shown in FIG. 2; f(t) represents'the instantaneous amplitude of a vectorv at an angle (t) in the'V If, as a minimum limit, thisVV nsaas Y complex' plane. The echo signal from a single target may then be written as Where Tis the echo delay, and zz is some attenuation factor. This factor is generally complex and variable with range and target characteristics.

The signal reaching the radar detector is actually the sum of two signals:

SBU):eine [1+%6iu tr) m| (13) As previously indicated, both cz and b are complex, and may be expressed as follows:-

b=yeju where x and y represent the relative strengths of the reiiected and direct signals respectively; v corresponds to a shift in angle caused by, and taking place at the target (vz-1r radians or 180 when target is a perfect reilector); and zz is a measure of the phase shift of the direct signal.

With equations 14 and l5 in mind, Equation 13 may be rewritten as If elm) is regarded as a reference, Ss(t) may be interpreted as a unit vector to which is added another vector of length x/y at an angle of s(l)=(f-T)-(f)1-v*ll This addition is illustrated in FTG. 3.

lt is apparent that the information on echo delay is contained in s(t). However, presently conceivable detectors are not able to discriminate between values of e550) that diier by whole multiples of 21r radians. This fact eliminates the possibility of obtaining range by a direct measurement lof angle, as long as the range to be measured is variable over several wavelengths ot' the radar signal. A separate reason to discourage such an approach is evident in that v is not strictly constant, but may vary somewhat as a function of the type of target.

From this analysis, it can be deduced that some sort of dynamic method of measurement has to be employed. This implies a frequency or phase modulation of the radar signal. This modulation Amay be chosen to be periodic, even sinusoidal, Without losing generality; thus Where wc is the angular speed of the carrier signal, P is the peak phase excursion, and wm is the angular speed of the modulating signal.

Equation 16 may now be written as Ss (t) (19) If this signal is applied to a peak linear amplitude detector with a suitable response time, the resulting output will be if the signal expressed in Equation 19, however, is applied to a square law detector and the D.C. component is eliminated by conventional means, such as a capacitor, the output of the detector will have a wave form shown in FIGURE 5 and may be approximated by the expression This is the same `as Equation 35 that is discussed in column 9 in relation to a speciiic embodimentof the invention.

Another Way of stating this is that the output from the detector Will represent the length of the vector sum indicated in FTG. 3. For this to be so, how-ever, it is necessary to assume that x/y is less than unity, or that x is smaller than y. This means that the echo signal must be weaker than the direct (leakage) signal, which is a reasonable assumption ina practical radar system of the continuous wave type.

As may be seen from Equation 2G, it is necessary that be less than 1r/2 radians, or 90, in order to avoid ambiguous results. This means that where Fm is the modulation frequency in cycles per second, corresponding to the angular velocity wm.

An analysis of Equation 20 may best be carried out wi-th the help ot a vector diagram as shown in FIG. 4. There, the smaller vector of length x/y, the x/y Vector, represents the echo signal. The unit vector represents the direct signal. For any given range, the average angle of the x/y vector will be (-wcT-l-v-u). About this average angle there are sinusoidal variations with peak sin w m2 at a frequency and phase corresponding to cos (w t-w m m2 It is evident that complete information concerning echo delay is contained in both the amount of the angular deviation as well as in its timing with respect to that of the modulating signal.

In conventional frequency modulated radar the information concerning echo delay is extracted from the lamount of deviation by counting how many complete revolutions are made by the x/y vector during one excursion. Any fractional revolutions are ignored, which implies a possibility of error corresponding to one revolution of the x/y vector. To make this error small, a large number of revolutions must be created. This means that a large bandwidth is required.

Since, for all practical purposes, dv/dl may bel considered negligible with respect to Y where Fd represents the Doppler frequency.

It is they fact that the average angle of the x/y vector changes with range, that provides a direct opportunity for measuring the excursions of the sinusoidal angular oscillations previously described.l

Assume that the Doppler frequency is low compared to the modulating frequency. This implies that on the average, the x/y vector rotates slowly, but that superimposed on this slow motion is a rapid angular oscillation with peak excursions of 21? sin yimg) As stated before Y 2P S11'l`wm Underv this condition, the resulting amplitude-detected signalwill look like that of FIG. 5. Here, the low frequencyv component corresponds to the Doppler signal, and the high frequency component is due to rapid angular oscillations associated with the modulation signal. From FIG. 6 it can be understood that the maximum high frequency modulation of the amplitude occurs whenever the average position of the x/y vector is perpendicular to the resultantvector. In this case, the peak value of the high frequency component of the detector output will be x Z EHP= sin (2P sin wmz) (26) as long as (2P sin ivm-271) is smaller than 1r/2 radians. For any value of (2P sin tung) larger than this, EH? will be constant and equal to x/ y.

Furthermore, ETP, the peak value of the total alternating voltage at the 'output ofthe detector will always correspond directly to the length of the x/ y vector,

ETP=g (27) I After appropriate filtration and peak rectification, both BHP and ETP are available as unidirectional quantities; Y

Combining Equations 26, 27, and 4 gives EH1 ETP sin 2P sin wm c. (28)V or, as an explicit function of range, Y Y

c 1 EH? arcs n arcs n 29 wm 1 1 .ETPV

Plotting the ratio Ems/ETP as a function of wmR/c for various values of P, gives a family of cuiyes as shown in FIG. 7. The flat portions of these curves, where the ratio is unity, corresponds to the condition that (eresia @1E-R) Y is larger than 1r/2 or 90. For a given value of wm, the abscissa may be calibrated directly in units of distance.'

For example, if wm=21r105 radians per second (F m:100 kc./sec.), the range calibration will be as indicated in FIG. 7. If the maximum range of interest is 500 feet, asis the case for automobile Iobstacle detection, it can` be seen that ambiguities may arise for targets beyond 4500 feet. However, since the echo signal strength from obstacles at 4500 feet and beyond will be extremely weak compared to that at 500 feet,`it is quite simple to make the radar system recognize this condition by proper adjustment of the detector threshold.

The maximum range that can be measured without ambiguity depends upon the angular speed of modulation, wm, as Weil as the amount of phase modulation, P. The exact relationship may be seen quite clearly in FiG. 7,.

For F :100 kc./sec. and a range limit of 500 feet, themaximum allowable phase-modulation can be found from Equation 25 to be 2.55 radians. This amount of modulation makes the EEP/ETP ratio reach unity at exactly 500 feet. However,V with P=2.55 radians, the range discrimination at maximum distances is rather poor due to lthe unfavorable slope of the voltage ratio versus distance curvein that range. This slope, and thereby the range discrimination may be maximized Vat 500 feet through appropriate differentiations of Equation 28. The result of maximizing the slope at 500) feet yields a value for P=l.39 radians, which gives the following expression for range (Fm=100 kc./sec.):

EHP

12:1566 man (0.36 .a1-@Sin (in feet) (30) ETP The family of curves shown in FIG. 7 is replotted to an expanded horizontal scale in FIG. 8 for wm=21rl05 radians/ sec. It should be noted that for low valuesyof moduindicate that ZEHP: 1.6 divisions and 2ETp=6-4 divisions.

For the case when P=Y1.39V and Fm=l00 kc./s., Equation 30 may be used, giving R=15e6 @resin (0.36 man =142feet (al) The same result may also be obtainedfrom the P=l.39 curve of FIG. 8.

The transmission bandwidth of the -above described radar system can be found from Equation 18. The instantaneous angular speed of the radar signal is This corresponds to an instantaneous frequency of Y F=FclFmP cos wmzV (33) aleaaas l "9 For Fm'=1\00 kc./s. and P2139 radians, the peak frequency deviation is According to frequency modulation theory, this corresponds to a transmissioin bandwidth of approximately 500 kc./s., i.e., less than that of conventional radar by a factor of more than 100.

Throughout the previous discussion, it has been assumed that the frequency of modulation is higher than the maximum Doppler signal frequency expected to be received by the system. Although by no means so limited, a ratio of ten to one is considered to be entirely satisfactory. For a given frequency of modulation, this requirement automatically puts an upper limit on the carrier frequency of a radar system employed in automobile obstacle detection, since the other Variable determining Doppler frequency, namely relative speed, is essentially fixed by present automobile capabilities.

In automobile obstacle detection, the maximum relative speed of interest may be assumed to be 100 miles per hour or 45 meters per second. This is assuming that the radar system is to be employed to detect obstacles in the future path of the vehicle, such as automobiles traveling in the same direction and in the same lane. Substituting this value for dR/ dt in Equation 24, and making Fdmax: l kc./s. (ie. one-tenth of Fm), gives a maximum carrier frequency of The Wave length corresponding to this frequency is 0.9 cm. This Wave length is sufciently short so that an antenna that can be placed upon an automotive vehicle, for example, an antenna having a Width of three feet, will have suiicient directivity at the maximum range envisioned, 500 ft.

A block diagram of a continuous Wave radar system constructed in accordance with the principles discussed above is shown in FIG. 9.

In this figure, there ies shown a microwave transmitter li) that is angle modulated, either frequency or phase modulated, by a modulator 11 which in this case has been designated as a frequency modulator. The modulated transmitter signal is fed from the microwave transmitter 1d to a transmitting antenna 12 Where itis projected into space and is then reflected from a target to produce an echo or reliected signal at a receiving antenna designated by the numeral 13. The transmitted signal from the microwave transmitter is also fed through an attenuator 14 to be combined with the reflected signal present at the receiving antenna 13. Thus, the total signal at the input of amplitude detector 15 is a composite signal and is mathematically described by Equation 19.

The amplitude detector 15 detects this signal and yields a Doppler component and a component due to the modulation and rejects the carrier component. If it is assumed that a peak linear detector is employed the output from the detector is a voltage mathematically described by Equation 20. However, if a square law detecto-r is employed and the direct component of the signal is eliminated by conventional means, such as a capacitor, the output of the square law detector will have a Waveform shown in FIG. 5 and may be approximated by the expression anticipated harmonic of the modulation frequency. It can be appreciated that these time constant relatlonships l@ can easily be obtained since the carrier frequency of the embodiment show in FIGURE 9 is 33.3 kilomegacycles while the modulation frequency is l0() kilocycles. Thus, the carrier frequency is several thousand times higher than the hundredth harmonic of the modulating frequency.

This approximation is good as long as x is Very much smaller than y which would be the case in a practical radar system since x represents the reiiected signal and y represents the signal fed directly from the transmitter l@ to the amplitude detector through the attenuator 14. The output from the amplitude detector may be vsuitably amplified by an amplifier 16.

Means are provided for measuring the ratio of the peak amplitude of the component due to the modulation to the peak amplitude of the total signal. This ratio, as previously explained, is a measure of the range between the system and the target. This means is described below and includes a high pass filter 17 connected to the amplifier that will pass only that component due to the modulation. A low pass filter 18 also connected to amplifier le that will pass only the Doppler component, as will be subsequently described. The output from the high pass filter 1'7 is a signal having a waveform as shown in FG. l0, and this signal is fed to a peak rectier 21 that determines the peak amplitude of the signal shown in FIG. l0. This peak rectifier should have a time constant that is long compared to the period of the lowest Doppler frequency encountered. The resulting unidirectional voltage obtained from this peak rectier is a direct measure of BHP as dened in Equation 26.

The output from the amplifier i6, the composite signal shown in FIG. 5, is also applied to a second peak rectifier 22 that also has a long time constant compared to the period of the lowest Doppler frequency expected to be encountered. The output from the peak rectifier 22 will be a unidirectional voltage that is a direct measure of ETP as defined in Equation 27. The unidirectional outputs of the peak rectiliers 2l and 22 are then fed to a ratio meter 23, the output of which will be a measure of the EBP to the ETP voltage ratio. The reading on this meter may be calibrated directly in range by the application of Equat tion 29. Over given ranges, the ratio of EH? to ETP may vary substantially linearly with range for selected values of Wm and P. This can best be seen by an inspection of FIG. 8.

As stated previously, the output from the amplifier le is also fed to a low pass filter i8 that Will pass only the Doppler component of the composite signal shown in FIG. 5. A frequency meter 24 is connected to the output of the low pass filter 18. The low pass filter l5 and the frequency meter 24 thus comprise a means for measuring the frequency of the Doppler component and thereby furnish a means for measuring the range rate or relative speed between the system and a target. The reading on this frequency meter 24 may be calibrated directly in terms of speed. The information concerning range and relative speed may then be suitably processed to provide a Warning in case of a potential accident siutation, if the radar system is employed as an obstacle detector .in an automotive vehicle.

t was assumed during the discussion and description of the block diagram of FIG. 9 that the repetition rate of modulation of the transmitter signal was greater than the maximum Doppler frequency expected to be received. By Way of example, if the radar system shown bythe block diagram in FIG. 9 is employed in an automobile obstacle detection system, the carrier frequency may be selected as 33.3 kmc./ sec. and this would produce a transmitted wave having a length on the order of 0.9 centimeter. This Wave length is sufficiently short that the antennas employed may have the desired directivity and size for use with automotive vehicles. With this selected carrier frequency and with the relative velocities expected between automotive vehicles traveling in the same lane, the maximum Doppler frequency that may be expected to be nal as described above.

ansehen.

received would bey on the order of 10 kc./sec. With this maximum Doppler frequency expected the repetition rate or' frequency of modulation may be selected as 10 times this value or 100kc./ sec.

It will also be understood by tho-se skilled in the art that the transmitting antenna and receiving antenna may be combined as one unit, and that a circula-tor or power divider may be connected to the transmitter,` the combined antenna, and amplitude detector to lproduce the same resul'tras the system shown in FIG. 9, and described above.

As was pointed out. in the theoretical discussion of the continuous wave radar system of this invention, it Was assumed that therewas no amplitude modulation of the transmitter signal. In actual practice, however, there may be Va certain amount of incidental amplitude modulation of the transmitter signal when this signal is frequency or phase modulated.- As lo-ng las this incidental amplitude modulation is small, it will only have the effect of adding a certain amountof steady state signal at the modulating frequency to the detected signal as expressed by Equation 21D, or as illustrated in FIG. 5. The effect of this is the modificationgof the EHP and the ETP voltages that are applied to the ratio meter 2f3-to determine range.

iFor allpractical purposes, inthe system contemplated for automobile obstacle detection that has a 500 foot maximum range, the unidirectional yvoltage ETP may be considered equal Yto the peak voltage of the Doppler component. This means that all signals at 100 kc./se'c., the modulationfrequency, or above, may be filtered and rejected before applying the Doppler component to ya peak rectifier in order to obtain ETP. Obtained in this way, ETP will be independent of any small amount of incidental amplitude modulation.

The EHP voltage, however, `cannot be obtained as di- -rect1y, since the signal of FIG. 10 yfrom which EHP is derived will he modified by the incidental amplitude modulation to have a Wave form'su'ch as that shown in FIG. l1. lHowever, by adding a certain' amount of the 100 leo/sec. voltage ldirectly from the modulator 11, a composite signal is obtained that is amplitude modulated at y`the Doppler lfrequency and that has a Wave form as then applied to a peak rectifier which will yield a direct current or unidirectional Avoltage that is a direct measure 0f EHP. 'v i FIG 13 shows a block diagram of another embodiment 0fV theV radar system of the present invention that incorporates means to accommodate or correct for the incidental amplitude modulation of the transmitter sig- In this embodiment of the invention an adder is included With the amplifier 16 that adds a signal .from the frequency modulator 11 to the signal at the output of the amplitude detector 15. The signal from the modulator 111 should be shifted in phase by 90 by means of a conventionalphase shifter that can be included with the adder and ampliiier, in order to proper- 1y add the signal tothe output of the amplitude detector 15. The output of the adder and amplifier 16 is fed to Y high pass ilter 17. The composite signal shown in FIG.

12 ywill lne-produced at the output of this high pass filter. This signal is then 4fed to .a Doppler detector 26 .which detects thev Doppler'component of the signal shown in FIG. 12. The Doppler detector 26 is an amplitude detector that is constructed and arranged' to detect the envelope of the signal shown in FIG. 12, which, as explained, is a sine wave at the Doppler frequency. "The output from the Doppler detector is then fed to peak rectifier 21 that, as previously explained, produces a unidirectional output voltage having a value of EH'P.

iThe output .from the adder amplifier 16 is also fed to a low pass filter18 that filters out all signals at the modulal2 tion frequency ot 1GO kc./sec. or above, andipermits the passing of the Doppler component. the low pass filter 18 is then applied 'to the frequency meter 24, as in FIG. 9, to give an indication of range rate or relative speed. The output from the low pass lilter 13 is also applied to .the peak rectifier 2'2,`lthe output off whichis a` unidirectional voltage'having avvalue of ETP- lAs in the embodiment shown as explained previously. in FIG. 9, the outputs `of the peakr'ectilers 21 and 22, Em, and ETP, are then fed to ratio meter 23 that vgives an indication of range.

`Another emibodiment'of' the invention is shown in FIG.

14. This embodiment of the inventionis similar to that shovvn in FIG. 13 in that itis capable of compensatin-g'or correcting for a certain amount of incidental amplitude modulation ofthe transmitted signal,` however, in this embodiment the adder and amplifier 16 of FIG.- 13 is replaced by an. adder and an'famplifierV having a delayed automatic gain control. These components are desig nated bythe numeral 311. In this embodiment -f the itlvention theunidirectional voltageE-fp is u'sed for controlling theg'ain of the' amplifier. This is accomplished by connecting the low pass filter 1 8 to the output ofthe adder and ainlplier with delayed automatic Vgain control,`

by connecting theV peak rectifierZ?. to the output of the low pass filter 13, and by connecting the'output of the peak rectifier 2.2y to the automatic gain control circuit of With suitable loop-gain itis possible in the amplifier. arrangements such as this to keep the ETP voltage essentially constant and equal to a threshold voltage that must be reached lbefore the automatic gain control circuit starts to control the gain of the amplifier. VConsequently, the

magnitude of the unidirectional voltage representing EH? will represent the EHP/ETP ratio, and will v.thereby represent range directly. Thus in this embodiment ofthe invention the ratio meter 23 shown in the embodiments' of FIGQ 9 and FIG.- 13 may be eliminated since the peak Irectifier 21 connected toDoppler detector 26v will give ja reading that is a direct measurement of range.

The radar system of the present invention contains certain additional advantages over conventional continuous wa-ve radar systems inthat the relative phase between t the modulation on the signal shovm in FIGS; l0, 11 and l2, and the Doppler signal proper changes by 180 when the relative speed reverses.

3,' keeping in mind that reversal of relative speed means reversing the direction 'of the average rotation of the x/ y vector. This 180 phase reversal pnovides a simple means of immediaterecognition of the direction of relativespeed. Such an effect is not avaliable in conventional continuous wave or Doppler radar, and as a consequence,

tion rate or frequency, the carrier frequency and ther maximum Doppler frequency expected to be received have been given by way of example only in relation to radar systems employed in automotive obstacle detection; If the syste-mwere to be employed for other purposes, such as, the determination of range and range rate of aircraft, then the representative frequencies given would need to be modified to accommodate `for the much larger ranges and range rates between the aircraft and the system.

It can be appreciated from an inspection ofFIG. 5, that if the Doppler component of the composite signal should go to zero as aY result of the relative speed, or range rate, goingv to zero, that the systems described would not give an indication lof range since ETP would become essentially zero. This is no particular problem in practice, however, since the Doppler component will be present even -for very small relative speeds. For

The output from This may be understood orv visualized from a study of the vector relationsof FIG.

example, wit-h a radar system for obstacle detection in automotive vehicles, the Doppler component will be present when the range changes by only a few Wave lengths `of the tnansmitted signal. This Wave length may be 0.9 cm., as discussed above, so that a range indication will be present when range between the system and the target changes by only a `few centimeters. In addition, equipment could be provided .to record the range reading, when the range rate goes to zero, until such time as the range rate again becomes sufficient to provide a range indication by the system.

This feature provides a distinct advantage in certain applications ltor example, where it is desirable to detect a moving target among a multitude of stationary radar reflectors, and to secure range and range rate informi.- tion on this target. Assuming, ythat the radar system is station-ary, it would not give a range reading on any stationary radar reflectors but would provide infomation only on a target that is moving relative to the system.

The radar systems of the present .invention are also capable, by reason of Ithe features described above, of measuring range and range rate between the system and u moving target loca-ted among a multitude of radar reflectors when the moving target lhas a relative speed with respect to the system that is different from the other radar reflectors.

The radar systems of the present invention may be used for any application as lono as the modulation repetition rate is greater, for example, l() times greater, as in the obstacle detector for automobiles discussed above, than the maximum Doppler frequency expected to be received.

Although the radar system of the present invention has been indicated in 4the block diagrams as employing a frequency modulator, designa-ted -by the numeral 1l, the system can be used equally well with a phase modulator, with these two types .of modulation bearing 4the generic title of angle modulation.

FIG. l5 discloses a diagram of a means for setting the lfrequency of transmission for the radar systems of the present invention mounted in automotive vehicles for employment as .obstacle detectors. 1t is well known that radiation of microwave energy is closely controlled by Federal regulation, and for this reason a condition imposed upon radar systems employed in automotive obstacle detect-ion is that they must require only a limited part of the microwave spectrum. Since there are many cars `on the mad it is .obviously necessary that when two cars meet there should be no interference between the radar systems mounted on the two vehicles. This requires that the two vehicles operate `on different Wave lengths, which, ofhand might suggest that each and all obstacle detection systems must operate on exclusive frequencies. There is, however a relatively simple solution to this problem. rihe operating frequencies of the obstacle detection systems can be made to change with the compass direction of the car, for example, as indicated in FG. 15, cars proceeding in a northerly direction, plus or minus 60, would use one frequency; cars going WSW, plus or minus 66, would use another frequency, and cars going ESE, plus or minus 60, would use a third frequency. Such an arrangement will assure that no two vehicles that are proceeding in opposite directions and that are about to meet on the roadway, will be operating on the same frequency. With such an arrangement, only three exclusive frequency bands are required to accommodate any desired number of cars with the obstacle detection radar system as described.

Thus, the present invention provides a continuous Wave radar system that is capable of measuring range and range rate with a 4high degree of accuracy, and that employs only a` very narrow transmission bandwith compared with prior art devices. Furthermore, the continuous lwave radar sys-tem of the present invention may be suitably employed as an obstacle detector for automotive vehicles.

it will be understood `that the invention is not to be limited to the exact construction shown and described, but that various changes and modicaticns may be made without departing from the spirit and scope of the invenas defined in the appended claims.

l claim:

1. A radar system for measuring range between the system and a target having relative velocity with respect to the system comprising, a transmitting means, modulating means connected to said transmitting means for angle modulating said transmitting means at a repetition rate greater than the maximum Doppler frequency expected to be received, means for receiving and combining a signal transmitted by said transmitting means and a signal reflected fifom the target, detecting means connected to said last mentioned means `for producing an output signal having a component due to the angle modulation, and means connected to said detecting means for measuring the ratio ofthe peak amplitudes of the component due to the angle moduiation and the total output signal from said detecting means.

2. A radar system for measuring range between the system and a target having relative velocity with respect to the system comprising, a transmitting means, modulating means connected to said transmitting means for angle modulating said transmitting means at a repetition rate greater than the maximum Doppler frequency expected to be received, means for receiving and combining a signal transmitted by said transmitting means and a signal reflected from the target, detecting means connected to said last mentioned means for producing a signal containing a component due to the angle modulation and a Doppler component, and means connected to said detecting means for measuring the ratio of the peak amplitudes of the component due to the angle modulation and the Doppler component.

3. A. radar system for measuring range between the system and a target having relative velocity with respect to the system comprising, a transmitting means, modulating means connected to said transmitting means for angle modulating said transmitting means at a repetition rate greater than the maximum Doppler frequency expected to be received, means for receiving and combining a signal transmitted by said transmitting means and a signal reflected from the target, detecting means connected to said last mentioned means for producing a signal containing a component due to the angle modulation and a Doppler component, amplifier means including a feedback circuit for producing a signal that is a function of the ratio of the amplitudes of the component due to the angle modulation and the Doppler component, said amplier means connected to said detecting means, and means connected to said amplifier means for measuring the peak amplitude of said last mentioned signal.

4. A. radar system for measuring range and range rate between the system and a target having relative velocity with respect to the system comprising, a transmitting means, modulating means connected to said transmitting means for angle modulating said transmitting means at a repetition rate substantially greater than the maximum Doppler frequency expected to be received, means for receiving and combining a signal transmitted by said transmitting means and a signal reflected from the target, detecting means connected to said last mentioned means for producing an output signal having a component due to the angle modulation and a Doppler component, means connected to said detecting means for measuring the ratio of the peak amplitudes of the component due to the angle lmodulation and the total output signal from said detecting means, and means connected to said detecting means for measuring the frequency of the Doppler component.

5. A radar system for measuring range and range rate between the system and a target having relative velocity with respect to the target comprising, .a transmitting means, modulating means connected to said transmitting iii Vmeans for angle modulating said transmitting means at for producing a signal having a component due to the angle modulation and a Doppler component, means connected to said detecting means for measuring the ratio of the peak amplitudes of the component due to the angle modulation andthe Doppler component, and means connected to said detecting means for measuring the frequency'of the Doppler component. Y

6. A radar system for measuring range and range rate between the system and a target having relative velocity with respect to the target comprising, a transmitting e means, modulating means connected to said transmitting means for angle modulating said transmitting means at a repetitionrate substantially greater than the maximum Doppler frequency expected to be received, means for receiving' and combining a signal transmitted by said transmitting means and a signal refiected from the target, detectingfmeans connected to said last mentioned means for producing a signal containing a component due to the angle modulation and a Doppler component, amplifier means connected to said detecting means for producing-*a signal that is a function of the ratio of the amplitudes of the component due to the angie mo'dtilation' and the Doppler component, means connected to said amplifier means for measuringthe peak amplitude of said last `Vmentioned signal, and means connected to said amplifier means formeasuririg the frequency of the Doppler component.

7. A radarY system for measuring range between the system and a target having rela-tive velocity with respect to the system comprising, a` transmitting means, modulating-means operable to" angle modulate said transmitting means at a repetition rate greater than the maximum Doppler frequency expected to be received, signal adding means operable to vectorially adda signal transmitted by e said transmitting means With a signal'refiected from the target, an vamplitude detector connected to said signal adding means, anramplifier connected to said amplitude detector, a high pass filter connected to'said amplifier, a first peak rectifier connected to said amplifier, a second peak rectifier connected to said high pass filter, and a ratio Y meter connected to said first and second peak rectifiers for indicating the range between the system and the target. 8. A radar system for measuring range and range rate between the 'system and a target comprising, a transmitti'ngmeans, modulating means operable to angle modulate saidtransrnitting means at a repetition rate greater than the maximum Doppler frequency expected to be received, signal adding means operable' to vectorially add a signal transmitted by said transmitting means with a signal refiected from the target, an ,amplitude detector connected to' said-signal adding means, a low pass filter and a high pass filter connected in parallel and to said amplitude detector, a frequency meter connected to said low pass filter'for indicating relative speed between the system and the target, a firstpeak rectifier connected to said amplitude detector, a second peak rectifier connected :to said high passfilter, and a ratio meter connected to said first and said second peak rectifiers for indicating the range between the system and the target.

filter connected in parallel and to said amplitude detector, a first peak rectifier connected to said low pass filter, a second peak rectifier connected to said high pass filter, and a ratio meter connected to said first peak rectifier and said second peak rectifier for indicating range between the system and the target. 1

i0. A radar system for measuring range and range rate between the system and a target comprising, a transmitting means, modulating means operable to angle modulate said transmitting means at a repetition rate greaterjV than the maximum Doppler frequency Vexpected to be received, signal combining means operableV to combine a signal transmitted by said transmitting means with a;

signal reflected from the target, ari amplitude detector' connected to said signal combining means, a low pass filter anda high pass filter connected in parallel and to said amplitudeY detector, a frequency meter connected to said low pass filter for indicating the rangeV rate between the system and the target, a first peak rectifier connected to' said low pass filter, a second peak rectifier connectedV to said high pass filter, and a ratio meter connected to said first peak rectifier and said second peak, rectifier for indicating range between the system and the target.

ll. A radar system for measuring range between the system and a target having relative velocity with respect to the system comprising, a transmitting means, modulating means for angle modulating said transmitting means at a rate greater than the maximum Doppler frequency expected to be received, signal combining means operable to combine a signal transmitted by said transmitting means arid a signal reficcted from the target, detecting Y means connected to said signal combining means for producing a signal having a Doppler component and a component due to the angle modulation, adding means for adding a signal from said modulating means to the output signal from said detecting means, a low pass filter connected to said adding means, a first peak rectifier connected to said low pass filter, a high passrfilter connected to said adding means, means for detecting the Doppler component connected to said high pass filter, a `secondV peak rectifier connected to said means for detecting the Doppler component, and a ratio meter connectedV to said,

by said transmitting means and a signal refiected frein the target, detecting means connected to said signal combining means for producing a signal having a Doppler component and a component' due to Athe angle modulation, adding means foradding a signal fromsaid modulating means to the output signal from said detecting means, a low pass filter connected to said adding-means, a first peak rectifier connected to said low pass filter, a frequency meter also connected to said lovvy pass filter for indicating range rate between the system and the target, a high pass filter connected to saidadding means, means for detecting the Doppler component connected to `said high pass filter, a second peak rectifier connected to said means for detecting the Doppler component, and a ratio meter connected to said first peak rectifier and said second peak rectifier for indicating range between the system and the target.

13. A radar system for measuring range between the system and a target having relative velocity with respect to the system comprising, a transmitting means, modulating means for angle modulating said transmitting means at a rate greater than the maximum-Doppler frequency expected to be received, signal combining means operable to combine a signal transmitted by said transmitting means and a signal reflected from thetarget, detectingmeans connected to said signal combining means for producing a Doppler component and a component due to the angle modulation, adding means for adding a signal from said modulating means to the output signal from said detecting means, an amplifier having delayed automatic gain control connected to said adder, a low pass filter connected to said amplifier, a rst peak rectiier connected to said low pass iilter, the output from said first peak rectifier being connected to said amplifier to control the gain thereof, a high pass iilter connected to said ampliiier, means connected to said high pass ilter for detecting the Doppler component, and a second peak rectier connected to said last mentioned means for indieating range between the system and the target.

14. A radar system for measuring range and range rate between the system and a target comprising, a transmitting means, modulating means for angle modulating said transmitting means at a rate greater than the maximum Doppler 'frequency expected to be received, signal combining means operable to combine a signal transmitted by said transmitting means and a signal reflected from the target, detecting means connected to said signal cornbining means for producing a Doppler component and a component due to the angle modulation, adding means for adding a signal from said modulating means to the output signal from said detecting means, an amplifier having delayed automatic gain control connected to said adder, a low pass lilter connected to said ampliier, a frequency meter connected to said low pass iilter for indicating range rate between the system and the target, a rst peak rectifier also connected to said low pass filter, the output of said iirst peak rectier being connected to said amplifier with delayed automatic gain control for controlling the gain thereof, a high pass: ilter connected to said amplifier, means connected to said amplifier for detecting the Doppler component, and a second peak rectifier connected to said last mentioned. means for indicating range between the system and the target.

Reerences Cited by the Examiner UNITED STATES PATENTS 2,451,822 lO/48 Guanella 343-9 2,533,889 12/50` Keizer 343-12 3,168,273 10/63 Erst 343-i14 CHESTER L. IUSTUS, Primary Examiner.

KATHLEEN CLAFFY, Examiner. 

1. A RADAR SYSTEM FOR MEASURING RANGE BETWEEN THE SYSTEM AND A TARGET HAVING RELATIVE VELOCITY WITH RESPECT TO THE SYSTEM COMPRISING, A TRANSMITTING MEANS, MODULATING MEANS CONNECTED TO SAID TRANSMITTING MEANS FOR ANGLE MODULATING SAID TRANSMITTING MEANS AT A REPETITION RATE GREATER THAN THE MAXIMUM DOPPLER FREQUENCY EXPECTED TO BE RECEIVED, MEANS FOR RECEIVING AND COMBINING A SIGNAL TRANSMITTED BY SAID TRANSMITTING MEANS AND A SIGNAL REFLECTED FROM THE TARGET, DETECTING MEANS CONNECTED TO SAID LAST MENTIONED MEANS FOR PRODUCING AN OUTPUT SIGNAL HAVING A COMPONENT DUE TO THE ANGLE MODULATION, AND MEANS CONNECTED TO SAID DETECTING MEANS FOR MEASURING THE RATIO OF THE PECK AMPLITUDES OF THE COMPONENT DUE TO THE ANGLE MODULATION AND THE TOTAL OUTPUT SIGNAL FROM SAID DETECTING MEANS. 